CN111982580B - Unmanned aerial vehicle automatic oil extraction sampling system and method - Google Patents
Unmanned aerial vehicle automatic oil extraction sampling system and method Download PDFInfo
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- CN111982580B CN111982580B CN201910422138.3A CN201910422138A CN111982580B CN 111982580 B CN111982580 B CN 111982580B CN 201910422138 A CN201910422138 A CN 201910422138A CN 111982580 B CN111982580 B CN 111982580B
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- 238000005070 sampling Methods 0.000 title claims abstract description 441
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000000605 extraction Methods 0.000 title abstract description 21
- 239000003129 oil well Substances 0.000 claims abstract description 87
- 238000001514 detection method Methods 0.000 claims description 55
- 239000007788 liquid Substances 0.000 claims description 43
- 238000011084 recovery Methods 0.000 claims description 41
- 238000004891 communication Methods 0.000 claims description 17
- 238000003032 molecular docking Methods 0.000 claims description 9
- 239000003921 oil Substances 0.000 description 98
- 239000010779 crude oil Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention discloses an unmanned aerial vehicle automatic oil extraction sampling system and a method, wherein the unmanned aerial vehicle automatic oil extraction sampling system comprises: unmanned aerial vehicle flight controller, magnetic force descending location device of plugging into, the sampling device of plugging into, solenoid valve on-off controller and sampling controller, wherein: the unmanned aerial vehicle flight controller is used for controlling the unmanned aerial vehicle to move; the magnetic landing and positioning connection device is arranged at the sampling point and used for guiding the unmanned aerial vehicle to land; the connection sampling device is used for sampling according to a connection sampling sleeve in the connection sampling device; the electromagnetic valve switch controller is used for controlling the opening and closing of a one-way electromagnetic valve on an oil well oil conveying pipe; the sampling controller is used for oil extraction sampling comprehensive control. The invention solves the technical problems that the manual sampling in the prior art has high labor intensity and the sample is greatly influenced by human factors in the sampling process.
Description
Technical Field
The invention relates to the field of oil extraction engineering, in particular to an unmanned aerial vehicle automatic oil extraction sampling system and method.
Background
Sampling is an extremely important link in the petroleum industry, and obtaining an oil sample at a wellhead is the first work for monitoring the water content, and plays a decisive role in a series of steps in crude oil production. In order to indicate the water content of crude oil, analytical data is needed to determine the oil sample at a specific time and location and analyze various indexes of the crude oil. The indexes are accurately and timely measured, the exploitation degree of an oil well can be reflected, the resource waste can be reduced, and the production cost can be reduced. Therefore, in the production process of oil wells in oil fields, oil extraction sampling is a frequent work of oil extraction workers. The existing manual sampling mainly adopts a production mode of sampling and testing for a plurality of times at regular time every day and assisting with the water content transportation difference monitoring of an on-line crude oil water content analyzer. The problems that the labor intensity is high, the influence of human factors on a sample in the sampling process is large and the like exist in the conventional manual sampling.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle automatic oil extraction sampling system and method, and aims to solve the technical problems that manual sampling in the prior art is high in labor intensity, and the influence of human factors on samples in the sampling process is large.
In order to achieve the above object, according to one aspect of the present invention, there is provided an unmanned aerial vehicle automatic oil recovery sampling system, comprising: unmanned aerial vehicle flight controller, magnetic force descending location device of plugging into, the sampling device of plugging into, solenoid valve on-off controller and sampling controller, wherein:
the unmanned aerial vehicle flight controller is used for controlling the unmanned aerial vehicle to move to a preset sampling point; controlling the unmanned aerial vehicle to move to a preset sampling collection point according to a return instruction sent by the sampling controller;
the magnetic landing and positioning connection device is arranged at the sampling point and comprises at least one magnetic device matched with a magnetic strip arranged on a landing bracket of the unmanned aerial vehicle, and the magnetic landing and positioning connection device is used for opening the magnetic device according to a landing instruction sent by the sampling controller so as to guide the unmanned aerial vehicle to land on the magnetic landing and positioning connection device through the suction force between the magnetic device and the magnetic strip;
the connection sampling device is arranged on the unmanned aerial vehicle and used for controlling a connection sampling sleeve in the connection sampling device to extend out to be communicated with an oil well oil pipeline according to a sampling start instruction sent by the sampling controller; controlling the connection sampling sleeve to retract according to a sampling completion instruction sent by the sampling controller;
the electromagnetic valve switch controller is used for controlling the one-way electromagnetic valve on the oil pipeline of the oil well to be opened according to an electromagnetic valve opening instruction sent by the sampling controller, so that oil in the oil pipeline of the oil well enters a sampling barrel on the unmanned aerial vehicle through the connection sampling sleeve; controlling the one-way electromagnetic valve to be closed according to an electromagnetic valve closing instruction sent by the sampling controller;
the sampling controller is used for sending the landing instruction to the magnetic landing positioning connection device when the unmanned aerial vehicle moves to the sampling point; when the unmanned aerial vehicle lands on the magnetic landing positioning connection device, sending a sampling starting instruction to the connection sampling device; when the connection sampling casing is communicated with the oil well oil conveying pipe, an electromagnetic valve opening instruction is sent to the electromagnetic valve switch controller; after sampling is finished, sending a solenoid valve closing instruction to the solenoid valve switch controller; after the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed, sending a sampling completion instruction to the connection sampling device; and sending the return instruction to the unmanned aerial vehicle flight controller after the connection sampling device controls the connection sampling sleeve to retract.
Further, this unmanned aerial vehicle automatic oil recovery sampling system still includes: the connection detection device is used for detecting whether the connection sampling casing is communicated with the oil well oil pipeline or not; when the connection sampling sleeve is communicated with the oil well oil pipeline, a communication signal is sent to the sampling controller;
the sampling controller is further configured to send an electromagnetic valve opening instruction to the electromagnetic valve switch controller according to the communication signal, so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to open according to the electromagnetic valve opening instruction.
Further, the connection detection device is also used for sending a disconnection signal to the sampling controller when the connection sampling casing is disconnected from the oil well oil pipeline;
the sampling controller is further used for sending the return instruction to the unmanned aerial vehicle flight controller according to the disconnection signal.
Further, this unmanned aerial vehicle automatic oil recovery sampling system still includes: the liquid level detection device is arranged in the sampling barrel and is used for detecting the liquid level in the sampling barrel and sending a liquid taking completion signal to the sampling controller when the liquid level reaches a preset value;
the sampling controller is further configured to send the electromagnetic valve closing instruction according to the liquid taking completion signal, so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed according to the electromagnetic valve closing instruction.
Further, the sampling controller is further configured to send a closing instruction to the magnetic landing and positioning connection device when the unmanned aerial vehicle lands on the magnetic landing and positioning connection device;
the magnetic landing positioning connection device is also used for closing the magnetic device according to the closing instruction so as to remove the suction force between the magnetic device and the magnetic strip.
Further, this unmanned aerial vehicle automatic oil recovery sampling system still includes: the landing detection device is arranged on the magnetic landing positioning connection device and is used for detecting whether the unmanned aerial vehicle lands on the magnetic landing positioning connection device or not; when the unmanned aerial vehicle lands on the magnetic landing positioning connection device, a landing success signal is sent to the sampling controller;
the sampling controller is further configured to send the sampling start instruction to the connection sampling device according to the landing success signal.
Further, the fall detection device includes: and at least one of an infrared sensor and a pressure sensor arranged on the magnetic landing and positioning connection device.
Further, the connection detecting device includes: the infrared sensor is arranged at the inlet of the oil well oil conveying pipe, and the pressure sensor is arranged in the oil well oil conveying pipe.
In order to achieve the above object, according to another aspect of the present invention, there is provided an unmanned aerial vehicle automatic oil recovery sampling method, which is applied to the unmanned aerial vehicle automatic oil recovery sampling system, the unmanned aerial vehicle automatic oil recovery sampling method including:
the unmanned aerial vehicle flight controller controls the unmanned aerial vehicle to move to a preset sampling point;
the sampling controller sends a landing instruction to the magnetic landing and positioning connection device when the unmanned aerial vehicle moves to the sampling point, so that the magnetic landing and positioning connection device opens a magnetic device in the unmanned aerial vehicle according to the landing instruction, and the unmanned aerial vehicle is guided to land on the magnetic landing and positioning connection device through the suction force between the magnetic device and a magnetic strip arranged on a landing bracket of the unmanned aerial vehicle;
the sampling controller sends a sampling starting instruction to the connection sampling device when the unmanned aerial vehicle lands on the magnetic landing positioning connection device, so that the connection sampling device controls a connection sampling sleeve in the connection sampling device to extend out to be communicated with an oil well oil pipeline according to the sampling starting instruction;
the sampling controller sends an electromagnetic valve opening instruction to an electromagnetic valve switch controller when the connection sampling sleeve is communicated with the oil well oil conveying pipe, and the electromagnetic valve switch controller controls a one-way electromagnetic valve on the oil well oil conveying pipe to be opened according to the electromagnetic valve opening instruction so that oil in the oil well oil conveying pipe enters a sampling barrel on the unmanned aerial vehicle through the connection sampling sleeve;
the sampling controller sends an electromagnetic valve closing instruction to the electromagnetic valve switch controller after sampling is finished, so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed according to the electromagnetic valve closing instruction;
the sampling controller sends a sampling completion instruction to the connection sampling device after the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed, so that the connection sampling device controls the connection sampling sleeve to retract according to the sampling completion instruction;
the sampling controller sends the return instruction to the unmanned aerial vehicle flight controller after the connection sampling device controls the connection sampling sleeve to retract, so that the unmanned aerial vehicle flight controller controls the unmanned aerial vehicle to move to a preset sampling collection point according to the return instruction.
Further, this unmanned aerial vehicle automatic oil recovery sampling system still includes:
the connection detection device detects whether the connection sampling sleeve is communicated with the oil well oil pipeline or not, and sends a communication signal to the sampling controller when the connection sampling sleeve is communicated with the oil well oil pipeline;
when the sampling sleeve is connected with the oil well oil conveying pipe, the sampling controller sends an electromagnetic valve opening instruction to the electromagnetic valve switch controller, and the electromagnetic valve opening instruction comprises the following steps:
and the sampling controller sends the electromagnetic valve opening instruction to the electromagnetic valve switch controller according to the communication signal so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to be opened according to the electromagnetic valve opening instruction.
Further, this unmanned aerial vehicle automatic oil recovery sampling system still includes:
the connection detection device detects whether the connection sampling sleeve is communicated with the oil well oil pipeline or not, and sends a disconnection signal to the sampling controller when the connection sampling sleeve is disconnected with the oil well oil pipeline;
the sampling controller sends the return instruction to the unmanned aerial vehicle flight controller after the connection sampling device controls the retraction of the connection sampling sleeve, and the method comprises the following steps:
and the sampling controller sends the return instruction to the unmanned aerial vehicle flight controller according to the disconnection signal.
Further, this unmanned aerial vehicle automatic oil recovery sampling system still includes:
the liquid level detection device detects the liquid level in the sampling barrel and sends a liquid taking completion signal to the sampling controller when the liquid level reaches a preset value;
the sampling controller sends an electromagnetic valve closing instruction to the electromagnetic valve switch controller after sampling is finished, and the electromagnetic valve closing instruction comprises the following steps:
and the sampling controller sends an electromagnetic valve closing instruction to the electromagnetic valve switch controller according to the liquid taking completion signal.
Further, this unmanned aerial vehicle automatic oil recovery sampling system still includes:
the sampling controller sends a closing instruction to the magnetic landing and positioning connection device when the unmanned aerial vehicle lands on the magnetic landing and positioning connection device;
and the magnetic landing positioning connection device closes the magnetic device according to the closing instruction so as to remove the suction force between the magnetic device and the magnetic strip.
Further, this unmanned aerial vehicle automatic oil recovery sampling system still includes:
the landing detection device detects whether the unmanned aerial vehicle lands on the magnetic landing positioning connection device or not, and sends a landing success signal to the sampling controller when the unmanned aerial vehicle lands on the magnetic landing positioning connection device;
the sampling controller is in the unmanned aerial vehicle descends and is in to the sampling device of plugging into of sending sample start command when on the magnetic force descending location device of plugging into, include:
and the sampling controller sends the sampling starting instruction to the connection sampling device according to the landing success signal.
The invention has the beneficial effects that: according to the unmanned aerial vehicle automatic oil extraction sampling system, automatic oil extraction sampling is realized through the unmanned aerial vehicle, unmanned oil well sampling is realized, and the technical problems that the labor intensity is high and the influence of human factors on a sample in the sampling process is large in the prior art due to manual sampling are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:
fig. 1 is a schematic view of a first structure of an unmanned aerial vehicle automatic oil recovery sampling system according to an embodiment of the invention;
fig. 2 is a schematic diagram of a second structure of the unmanned aerial vehicle automatic oil recovery sampling system according to the embodiment of the invention;
FIG. 3 is a schematic flow chart of an automatic oil recovery sampling method of an unmanned aerial vehicle according to an embodiment of the invention;
FIG. 4 is a schematic flow chart illustrating the operation of the one-way solenoid valve according to the embodiment of the present invention;
FIG. 5 is a flow diagram of an embodiment of the present invention for issuing a return instruction;
FIG. 6 is a schematic flow chart illustrating the closing of the one-way solenoid valve according to the embodiment of the present invention;
FIG. 7 is a schematic flow chart illustrating the closing of the magnetic device according to the embodiment of the present invention;
FIG. 8 is a flowchart illustrating an exemplary method for issuing a sample start command.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and the above-described drawings are intended to cover non-exclusive inclusions, such that a product or device comprising a list of elements is not necessarily limited to those elements explicitly listed, but may include other elements not explicitly listed or inherent to such product or device.
In the present invention, the terms "upper", "lower", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "disposed," "provided," and "connected" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; may be a mechanical connection, an electrical connection or a communication connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic view of a first structure of an unmanned aerial vehicle automatic oil recovery sampling system according to an embodiment of the present invention, and as shown in fig. 1, the unmanned aerial vehicle automatic oil recovery sampling system according to the embodiment of the present invention includes: sampling controller 1, unmanned aerial vehicle flight controller 2, magnetic force descending location device of plugging into 3, the sampling device of plugging into 4, solenoid valve on-off controller 5, connection detection device 6, liquid level detection device 7 and descending detection device 8.
Fig. 2 is a schematic diagram of a second structure of the unmanned aerial vehicle automatic oil recovery sampling system according to the embodiment of the present invention, and as shown in fig. 2, the unmanned aerial vehicle 9 moves between a preset sampling point and a preset sampling and collecting point under the control of the unmanned aerial vehicle flight controller 2. Be provided with the GPS device that is used for the location on unmanned aerial vehicle 9, flight controller 2 can judge whether unmanned aerial vehicle 9 exercises to predetermined sampling point or sample collection point through this GPS device. Be provided with the magnetic force descending location device of plugging into 3 that is used for carrying on the unmanned aerial vehicle descending location at the sampling point department, this magnetic force descending location device of plugging into 3 is including setting up the magnetic means 15 at the up end.
As shown in fig. 2, be provided with the sampling device 4 of plugging into that is used for the sample and be used for storing the sample bucket 11 of fluid on unmanned aerial vehicle 9, the sampling device 4 of plugging into has the telescopic sampling tube 10 of plugging into, and this sampling tube 10 of plugging into is used for being connected with oil well oil pipeline 13, and the one end and the sample bucket 11 intercommunication of this sampling tube 10 of plugging into. The oil well delivery pipe 13 communicates with the oil well 14, and oil is delivered to the oil well delivery pipe 13 by an electric pump in the oil well 14. The oil-well oil-delivery pipe 13 is provided with a one-way solenoid valve 12 for opening and closing the oil-delivery pipe.
In the embodiment of the present invention, the unmanned aerial vehicle flight controller 2 is a control device arranged on the unmanned aerial vehicle 9 and used for performing flight control on the unmanned aerial vehicle 9, the unmanned aerial vehicle flight controller 2 is electrically or communicatively connected with the sampling controller 1, controls the unmanned aerial vehicle 9 to move to a preset sampling point according to a sampling instruction sent by the sampling controller 1, and controls the unmanned aerial vehicle 9 to move to a preset sampling collection point according to a return instruction sent by the sampling controller 1.
In an embodiment of the invention, a magnetic landing positioning docking device 3 is provided at the sampling point, which magnetic landing positioning docking device 3 comprises at least one magnetic device 15 provided at the upper end face. A magnetic strip matched with the magnetic device 15 is arranged on the landing support of the unmanned aerial vehicle 9. This magnetic means 15 can be through the magnetic force strip on the magnetic force attraction landing support when opening to through the magnetic attraction between magnetic means 15 and the magnetic strip guide unmanned aerial vehicle 9 to descend on the fixed position on magnetic force landing location device of plugging into 3. This magnetic means 15 is when closing, and magnetic attraction disappears, and the unmanned aerial vehicle 9 of being convenient for takes off. In an embodiment of the present invention, the magnetic device 15 is fixed in position on the magnetic landing positioning docking device 3, so that the drone 9 can be landed on the fixed position of the magnetic landing positioning docking device 3. In the embodiment of the present invention, the number of the magnetic devices 15 may be two, and the two magnetic devices are respectively adapted to the magnetic strips on the two landing legs of the unmanned aerial vehicle 9, and the size and the shape of the magnetic devices 15 also correspond to the magnetic strips on the landing legs. In an embodiment of the invention the magnetic means 15 may be an electromagnetic means of the prior art, i.e. may be magnetic when energized.
In the embodiment of the present invention, the docked sampling device 4 is configured to control the docked sampling casing 10 in itself to extend to communicate with the oil well pipe 13 upon receiving a sampling start command sent by the sampling controller 1, and to control the docked sampling casing 10 to retract upon receiving a sampling completion command sent by the sampling controller 1. In the embodiment of the present invention, the connecting sampling device 4 is a connecting device of the prior art, and the connecting sampling device 4 includes a connecting sampling sleeve 10 and a motor mechanism for driving the connecting sampling sleeve 10 to extend and retract. In the embodiment of the present invention, the connection between the docked sampling sleeve 10 and the oil well pipe 13 can be implemented in various ways, for example, the docked sampling sleeve 10 can be inserted into the oil well pipe 13, the oil well pipe 13 is inserted into the docked sampling sleeve 10, the nozzle of the docked sampling sleeve 10 is in the shape of a funnel, the outlet of the oil well pipe 13 extends into the funnel-shaped nozzle, and so on. In the embodiment of the invention, the setting of the position of the connection sampling device 4 on the unmanned aerial vehicle 9 and the position of the unmanned aerial vehicle 9 stopping on the magnetic landing positioning connection device 3 meet the requirement that when the unmanned aerial vehicle 9 stops on the magnetic landing positioning connection device 3, the extended connection sampling sleeve 10 just can be communicated with the oil well oil pipeline 13.
In the embodiment of the present invention, the solenoid valve controller 5 may be disposed on the unmanned aerial vehicle 9 for controlling the opening and closing of the one-way solenoid valve 12 on the oil pipeline 13 of the oil well. The electromagnetic valve switch controller 5 controls the one-way electromagnetic valve 12 on the oil well oil conveying pipe 13 to be opened when receiving an electromagnetic valve opening instruction sent by the sampling controller 1, so that oil in the oil well oil conveying pipe 13 can enter the sampling barrel 11 on the unmanned aerial vehicle 9 through the connection sampling sleeve 10. The solenoid valve switch controller 5 controls the one-way solenoid valve 12 to close when receiving a solenoid valve closing instruction sent by the sampling controller 1.
In the embodiment of the invention, the sampling controller 1 is a master controller of an unmanned aerial vehicle automatic oil extraction sampling system, the sampling controller 1 can be arranged on an unmanned aerial vehicle 9, and the sampling controller 1 is respectively electrically connected or in communication connection with an unmanned aerial vehicle flight controller 2, a magnetic landing positioning connection device 3, a connection sampling device 4, a solenoid valve switch controller 5, a connection detection device 6, a liquid level detection device 7 and a landing detection device 8. Sampling controller 1 is used for moving to at unmanned aerial vehicle 9 the descending instruction is sent to magnetic force descending location connecting device 3 during the sampling point, so that magnetic force descending location connecting device 3 basis magnetic force device 15 in self is opened to the descending instruction, with through magnetic force device 15 with the suction guide between the magnetic force strip that sets up on unmanned aerial vehicle's the descending support unmanned aerial vehicle 9 descends and is in fixed position on the magnetic force descending location connecting device 3. The sampling controller 1 is in the unmanned aerial vehicle 9 descends to the sampling device 4 of plugging into sends the sample start instruction when descending the location of magnetic force and plugging into on the device 3 to make the sampling device 4 of plugging into according to the sample start instruction control sampling sleeve pipe 10 of plugging into in oneself stretch out with oil well oil pipeline 13 intercommunication. The sampling controller 1 sends a solenoid valve opening instruction to the solenoid valve switch controller 5 when the sampling sleeve 10 is plugged and the oil well oil conveying pipe 13 is communicated, so as to open the one-way solenoid valve 12, so that oil enters the sampling barrel 11 through the sampling sleeve 10, and sends a solenoid valve closing instruction to the solenoid valve switch controller 5 after sampling is finished, so as to close the one-way solenoid valve 12. The sampling controller 1 is further configured to send a sampling completion instruction to the connection sampling device 4 after the electromagnetic valve switch controller 5 controls the one-way electromagnetic valve 12 to close, so that the connection sampling device 4 controls the connection sampling sleeve 10 to retract. The sampling controller 1 sends a return instruction to the unmanned aerial vehicle flight controller 2 after the sampling device 4 that plugs into control the sampling sleeve 10 that plugs into retracts, so that the unmanned aerial vehicle flight controller 2 controls the unmanned aerial vehicle 9 to move to the preset sampling collection point according to the return instruction.
In an optional embodiment of the present invention, after the unmanned aerial vehicle 9 lands on the magnetic landing and positioning connection device 3, the sampling controller 1 sends a closing instruction to the magnetic landing and positioning connection device 3, so that the magnetic landing and positioning connection device 3 closes the magnetic device 15 according to the closing instruction, so as to release the attraction between the magnetic device 15 and the magnetic strip.
The unmanned aerial vehicle automatic oil extraction sampling system realizes automatic oil extraction sampling through the unmanned aerial vehicle, realizes unmanned oil well sampling, and solves the technical problems that manual sampling in the prior art is high in labor intensity, and the sample is greatly influenced by human factors in the sampling process.
As shown in fig. 1, the unmanned aerial vehicle automatic oil recovery sampling system in the embodiment of the present invention further includes a connection detection device 6. The connection detection device 6 is used for detecting whether the connection sampling casing 10 is communicated with the oil well oil pipeline 13. The connection detection device 6 sends a communication signal to the sampling controller 1 when the docked sampling casing 10 is in communication with the oil well tubing 13. The connection detection device 6 sends a disconnection signal to the sampling controller 1 when the docked sampling sleeve 10 is disconnected from the oil well tubing 13. The connection detecting device 6 may take various detection forms in the embodiment of the present invention, for example, the detecting element of the connection detecting device 6 may be an infrared sensor provided at the inlet of the oil well delivery pipe 13, a pressure sensor provided in the oil well delivery pipe 13, or the like.
In the embodiment of the present invention, when receiving the connection signal sent by the connection detection device 6, the sampling controller 1 sends a solenoid valve opening instruction to the solenoid valve switch controller 5, so that the solenoid valve switch controller 5 controls the opening of the one-way solenoid valve 12 according to the solenoid valve opening instruction. After liquid taking is completed, when receiving a disconnection signal sent by the connection detection device 6, the sampling controller 1 sends a return instruction to the unmanned aerial vehicle flight controller 2 according to the disconnection signal, so that the unmanned aerial vehicle flight controller 2 controls the unmanned aerial vehicle 9 to move to a preset sampling collection point according to the return instruction.
As shown in fig. 1, the unmanned aerial vehicle automatic oil recovery sampling system in the embodiment of the present invention further includes a liquid level detection device 7. This liquid level detection device 7 sets up in sample bucket 11 on unmanned aerial vehicle 9 for detect the liquid level in the sample bucket 11, and when the liquid level arrived the default to sample controller 1 sends and gets liquid and accomplish the signal. And the sampling controller 1 sends a solenoid valve closing instruction to the solenoid valve switch controller 5 according to the liquid taking completion signal, so that the solenoid valve switch controller 5 controls the one-way solenoid valve 12 to be closed according to the solenoid valve closing instruction.
As shown in fig. 1, the automatic unmanned aerial vehicle oil recovery sampling system according to the embodiment of the present invention further includes a landing detection device 8, where the landing detection device 8 is disposed on the magnetic landing positioning connection device 3 and is used to detect whether the unmanned aerial vehicle 9 lands on a fixed position of the magnetic landing positioning connection device 3. In the embodiment of the present invention, the landing detection device 8 may adopt various detection mechanisms, for example, a pressure sensor disposed at a fixed landing position of the magnetic landing positioning connection device 3, and determine whether the unmanned aerial vehicle 9 lands at the fixed position of the magnetic landing positioning connection device 3 by detecting gravity; this descending detection device 8 also can adopt the infrared sensor who sets up department on the fixed descending position of magnetic force descending location device 3 of plugging into, shelters from infrared sensor's infrared light beam when unmanned aerial vehicle 9 descends to this judges whether unmanned aerial vehicle 9 descends on predetermineeing the position.
In the embodiment of the present invention, the landing detection device 8 sends a landing success signal to the sampling controller 1 when the unmanned aerial vehicle 9 lands on the magnetic landing positioning and docking device 3. After receiving the landing success signal, the sampling controller 1 sends the sampling start instruction to the connection sampling device 4, so that the connection sampling device 4 controls the connection sampling sleeve 10 in itself to extend out to communicate with the oil well oil pipeline 13 according to the sampling start instruction.
The oil extraction sampling process of the unmanned aerial vehicle automatic oil extraction sampling system can specifically be as follows:
1. the unmanned aerial vehicle flight controller 2 controls the unmanned aerial vehicle 9 to move to a preset sampling point;
2. the sampling controller 1 sends a landing instruction to the magnetic landing positioning connection device 3 when the unmanned aerial vehicle 9 moves to a preset sampling point;
3. the magnetic landing and positioning connection device 3 opens the magnetic device 15 in the magnetic landing and positioning connection device according to the landing instruction, so that the unmanned aerial vehicle 9 is guided to land on the magnetic landing and positioning connection device 3 through the attraction force between the magnetic device 15 and the magnetic strips arranged on the landing bracket of the unmanned aerial vehicle 9;
4. the landing detection device 9 detects whether the unmanned aerial vehicle 9 lands on the magnetic landing positioning connection device 3, and sends a landing success signal to the sampling controller 1 when the unmanned aerial vehicle 9 lands on the magnetic landing positioning connection device 3;
5. the sampling controller 1 sends a sampling start instruction to the connection sampling device 4 according to the landing success signal;
6. the connection sampling device 4 controls a connection sampling sleeve 10 in the connection sampling device to extend out according to the sampling starting instruction so as to be communicated with an oil well oil pipeline 13;
7. the connection detection device 6 detects whether the connection sampling sleeve 10 is communicated with the oil well oil pipeline 13 or not, and sends a communication signal to the sampling controller 1 when the connection sampling sleeve 10 is communicated with the oil well oil pipeline 13;
8. when receiving the communication signal, the sampling controller 1 sends an electromagnetic valve opening instruction to the electromagnetic valve switch controller 5;
9. the electromagnetic valve switch controller 5 controls a one-way electromagnetic valve 12 on the oil well oil delivery pipe 13 to be opened according to the electromagnetic valve opening instruction, so that oil in the oil well oil delivery pipe 13 enters a sampling barrel 11 on the unmanned aerial vehicle through the connection sampling sleeve 10;
10. the liquid level detection device 7 detects the liquid level in the sampling barrel 11 and sends a liquid taking completion signal to the sampling controller 1 when the liquid level reaches a preset value;
11. the sampling controller 1 sends an electromagnetic valve closing instruction to the electromagnetic valve switch controller 5 after receiving the liquid taking completion signal;
12. the electromagnetic valve switch controller 5 controls the one-way electromagnetic valve 12 to be closed according to the electromagnetic valve closing instruction;
13. the sampling controller 1 sends a sampling completion instruction to the connection sampling device 4 after the electromagnetic valve switch controller 5 controls the one-way electromagnetic valve 12 to be closed;
14. the connection sampling device 4 controls the connection sampling sleeve 10 to retract according to the sampling completion instruction;
15. the connection detection device 6 sends a disconnection signal to the sampling controller 1 when the connection sampling casing 10 is disconnected from the oil well oil pipeline 13;
16. the sampling controller 1 sends a return instruction to the unmanned aerial vehicle flight controller 2 according to the disconnection signal;
17. the unmanned aerial vehicle flight controller 2 controls the unmanned aerial vehicle 9 to move to a preset sampling collection point according to the return instruction so as to finish sampling operation.
The unmanned aerial vehicle automatic oil extraction sampling system realizes automatic oil extraction sampling through the unmanned aerial vehicle, realizes unmanned oil well sampling, and solves the technical problems that manual sampling in the prior art is high in labor intensity, and the sample is greatly influenced by artificial factors in the sampling process.
Based on the same inventive concept, the embodiment of the invention also provides an automatic oil recovery sampling method for the unmanned aerial vehicle, which is applied to the automatic oil recovery sampling system for the unmanned aerial vehicle described in the above embodiment, as described in the following embodiments. Because the principle of the problem solved by the unmanned aerial vehicle automatic oil recovery sampling method is similar to that of the unmanned aerial vehicle automatic oil recovery sampling system, the embodiment of the unmanned aerial vehicle automatic oil recovery sampling method can be referred to that of the unmanned aerial vehicle automatic oil recovery sampling system, and repeated parts are not repeated.
Fig. 3 is a schematic flow chart of the automatic oil recovery sampling method of the unmanned aerial vehicle according to the embodiment of the present invention, and as shown in fig. 3, the automatic oil recovery sampling method of the unmanned aerial vehicle according to the embodiment of the present invention includes steps S101 to S107.
And S101, controlling the unmanned aerial vehicle to move to a preset sampling point by the unmanned aerial vehicle flight controller.
Step S102, the sample controller is in when unmanned aerial vehicle moves to the sampling point send the descending instruction to magnetic force descending location interfacing apparatus, so that magnetic force descending location interfacing apparatus opens the magnetic means in self according to the descending instruction, with through the magnetic means with the guidance of the suction between the magnetic strip that sets up on unmanned aerial vehicle' S the landing support the unmanned aerial vehicle descends and is in on the magnetic force descending location interfacing apparatus.
Step S103, the sampling controller sends a sampling starting instruction to the connection sampling device when the unmanned aerial vehicle descends on the magnetic landing positioning connection device, so that the connection sampling device controls a connection sampling sleeve in the connection sampling device to stretch out to be communicated with an oil well oil conveying pipe according to the sampling starting instruction.
And S104, the sampling controller sends a solenoid valve opening instruction to a solenoid valve opening controller when the connection sampling sleeve is communicated with the oil well delivery pipe, and the solenoid valve opening controller controls a one-way solenoid valve on the oil well delivery pipe to be opened according to the solenoid valve opening instruction, so that oil in the oil well delivery pipe enters a sampling barrel on the unmanned aerial vehicle through the connection sampling sleeve.
And step S105, the sampling controller sends an electromagnetic valve closing instruction to the electromagnetic valve switch controller after sampling is finished, so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed according to the electromagnetic valve closing instruction.
And S106, the sampling controller sends a sampling completion instruction to the connection sampling device after the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed, so that the connection sampling device controls the connection sampling sleeve to retract according to the sampling completion instruction.
And S107, the sampling controller sends the return instruction to the unmanned aerial vehicle flight controller after the connection sampling device controls the connection sampling sleeve to retract, so that the unmanned aerial vehicle flight controller controls the unmanned aerial vehicle to move to a preset sampling collection point according to the return instruction.
In the embodiment of the present invention, the connection between the plugging sampling casing and the oil well pipe can be achieved in various ways, for example, the plugging sampling casing can be inserted into the oil well pipe, the oil well pipe is inserted into the plugging sampling casing, the pipe orifice of the plugging sampling casing is in a funnel shape, the outlet of the oil well pipe extends into the funnel-shaped pipe orifice, and the like. In the embodiment of the invention, the positions of the connection sampling device on the unmanned aerial vehicle and the sampling point are set, and when the unmanned aerial vehicle is at the sampling point, the extending connection sampling sleeve can just be communicated with the oil well oil pipeline.
Fig. 4 is a schematic flow chart illustrating a method for controlling the opening of the one-way solenoid valve according to an embodiment of the present invention, and as shown in fig. 4, the method for controlling the opening of the one-way solenoid valve according to an embodiment of the present invention includes step S201 and step S202.
Step S201, a connection detection device detects whether the connection sampling sleeve is communicated with the oil well oil pipeline, and sends a communication signal to the sampling controller when the connection sampling sleeve is communicated with the oil well oil pipeline.
Step S202, the sampling controller sends the electromagnetic valve opening instruction to the electromagnetic valve switch controller according to the communication signal, so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to be opened according to the electromagnetic valve opening instruction.
In an embodiment of the invention, the connection detection device is used for detecting whether the connection sampling casing is communicated with the oil well oil pipeline. In the embodiment of the present invention, the connection detection device may adopt various detection forms, for example, the detection element of the connection detection device may be an infrared sensor disposed at the inlet of the oil delivery pipe of the oil well, a pressure sensor disposed in the oil delivery pipe of the oil well, or the like.
Fig. 5 is a schematic flowchart of a process of sending a return instruction according to an embodiment of the present invention, and as shown in fig. 5, the process of sending a return instruction according to an embodiment of the present invention includes step S301 and step S302.
Step S301, detecting whether the connection sampling sleeve is communicated with the oil well oil conveying pipe or not by a connection detection device, and sending a disconnection signal to the sampling controller when the connection sampling sleeve is disconnected with the oil well oil conveying pipe.
Step S302, the sampling controller sends the return instruction to the unmanned aerial vehicle flight controller according to the disconnection signal, so that the unmanned aerial vehicle flight controller controls the unmanned aerial vehicle to move to a preset sampling collection point according to the return instruction.
Fig. 6 is a schematic diagram of a flow for controlling the closing of the one-way solenoid valve according to an embodiment of the present invention, and as shown in fig. 6, the flow for controlling the closing of the one-way solenoid valve according to an embodiment of the present invention includes step S401 and step S402.
Step S401, the liquid level detection device detects the liquid level in the sampling barrel and sends a liquid taking completion signal to the sampling controller when the liquid level reaches a preset value.
And step S402, the sampling controller sends an electromagnetic valve closing instruction to the electromagnetic valve switch controller according to the liquid taking completion signal.
In the embodiment of the invention, the liquid level detection device is arranged in a sampling bucket on the unmanned aerial vehicle and is used for detecting the liquid level in the sampling bucket so as to detect whether liquid taking is finished or not.
Fig. 7 is a schematic flow chart illustrating a method for controlling a magnetic device to turn off according to an embodiment of the present invention, and as shown in fig. 7, the method for controlling a magnetic device to turn off according to an embodiment of the present invention includes steps S501 and S502.
Step S501, the sampling controller sends a closing instruction to the magnetic landing and positioning connection device when the unmanned aerial vehicle lands on the magnetic landing and positioning connection device.
Step S502, the magnetic landing and positioning connection device closes the magnetic device according to the closing instruction so as to remove the suction force between the magnetic device and the magnetic strip.
Fig. 8 is a flowchart illustrating a method for sending a sampling start command according to an embodiment of the present invention, and as shown in fig. 8, the method for sending a sampling start command according to an embodiment of the present invention includes step S601 and step S602.
Step S601, the landing detection device detects whether the unmanned aerial vehicle lands on the magnetic landing positioning connection device, and sends a landing success signal to the sampling controller when the unmanned aerial vehicle lands on the magnetic landing positioning connection device.
Step S602, the sampling controller sends the sampling start instruction to the docking sampling device according to the landing success signal.
The unmanned aerial vehicle automatic oil extraction sampling method realizes automatic oil extraction sampling through the unmanned aerial vehicle, realizes unmanned oil well sampling, and solves the technical problems that manual sampling in the prior art is high in labor intensity, and the sample is greatly influenced by human factors in the sampling process.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. The utility model provides an unmanned aerial vehicle automatic oil recovery sampling system which characterized in that includes: unmanned aerial vehicle flight controller, magnetic force descending location device of plugging into, the sampling device that plugs into, solenoid valve on-off controller, connection detection device and sampling controller, wherein:
the unmanned aerial vehicle flight controller is used for controlling the unmanned aerial vehicle to move to a preset sampling point; controlling the unmanned aerial vehicle to move to a preset sampling collection point according to a return instruction sent by the sampling controller;
the magnetic landing and positioning connection device is arranged at the sampling point and comprises at least one magnetic device matched with a magnetic strip arranged on a landing bracket of the unmanned aerial vehicle, and the magnetic landing and positioning connection device is used for opening the magnetic device according to a landing instruction sent by the sampling controller so as to guide the unmanned aerial vehicle to land on the magnetic landing and positioning connection device through the suction force between the magnetic device and the magnetic strip;
the connection sampling device is arranged on the unmanned aerial vehicle and used for controlling a connection sampling sleeve in the connection sampling device to extend out to be communicated with an oil well oil pipeline according to a sampling starting command sent by the sampling controller; controlling the connection sampling sleeve to retract according to a sampling completion instruction sent by the sampling controller;
the electromagnetic valve switch controller is used for controlling the opening of the one-way electromagnetic valve on the oil well oil conveying pipe according to an electromagnetic valve opening instruction sent by the sampling controller so that oil in the oil well oil conveying pipe enters a sampling barrel on the unmanned aerial vehicle through the connection sampling sleeve; controlling the one-way electromagnetic valve to be closed according to an electromagnetic valve closing instruction sent by the sampling controller;
the connection detection device is used for detecting whether the connection sampling sleeve is communicated with the oil well oil conveying pipe or not, sending a communication signal to the sampling controller when the connection sampling sleeve is communicated with the oil well oil conveying pipe, and sending a disconnection signal to the sampling controller when the connection sampling sleeve is disconnected with the oil well oil conveying pipe; the connection detecting device includes: at least one of an infrared sensor disposed at an inlet of the oil well pipe and a pressure sensor disposed within the oil well pipe;
the sampling controller is used for sending the landing instruction to the magnetic landing positioning connection device when the unmanned aerial vehicle moves to the sampling point; when the unmanned aerial vehicle lands on the magnetic landing positioning connection device, sending a sampling starting instruction to the connection sampling device; sending an electromagnetic valve opening instruction to the electromagnetic valve switch controller according to the communication signal; after sampling is finished, sending an electromagnetic valve closing instruction to the electromagnetic valve switch controller; after the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed, sending a sampling completion instruction to the connection sampling device; and sending the return instruction to the unmanned aerial vehicle flight controller according to the disconnection signal.
2. The unmanned aerial vehicle automated oil recovery sampling system of claim 1, further comprising: a liquid level detection device arranged in the sampling barrel,
the liquid level detection device is used for detecting the liquid level in the sampling barrel and sending a liquid taking completion signal to the sampling controller when the liquid level reaches a preset value;
the sampling controller is further configured to send the electromagnetic valve closing instruction according to the liquid taking completion signal, so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed according to the electromagnetic valve closing instruction.
3. The unmanned aerial vehicle automatic oil recovery sampling system of claim 1, wherein the sampling controller is further configured to send a closing instruction to the magnetic landing positioning docking device when the unmanned aerial vehicle lands on the magnetic landing positioning docking device;
the magnetic landing positioning connection device is also used for closing the magnetic device according to the closing instruction so as to remove the suction force between the magnetic device and the magnetic strip.
4. The unmanned aerial vehicle automated oil recovery sampling system of claim 1, further comprising: a falling-off detection device is arranged on the base,
the landing detection device is arranged on the magnetic landing positioning connection device and is used for detecting whether the unmanned aerial vehicle lands on the magnetic landing positioning connection device or not; when the unmanned aerial vehicle lands on the magnetic landing positioning connection device, a landing success signal is sent to the sampling controller;
the sampling controller is further configured to send the sampling start instruction to the docking sampling device according to the landing success signal.
5. The unmanned aerial vehicle automated oil recovery sampling system of claim 4, wherein the landing detection device comprises: and at least one of an infrared sensor and a pressure sensor arranged on the magnetic landing and positioning connection device.
6. An unmanned aerial vehicle automatic oil recovery sampling method applied to the unmanned aerial vehicle automatic oil recovery sampling system of any one of claims 1 to 5, characterized by comprising the following steps:
the unmanned aerial vehicle flight controller controls the unmanned aerial vehicle to move to a preset sampling point;
the sampling controller sends a landing instruction to the magnetic landing and positioning connection device when the unmanned aerial vehicle moves to the sampling point, so that the magnetic landing and positioning connection device opens a magnetic device in the unmanned aerial vehicle according to the landing instruction, and the unmanned aerial vehicle is guided to land on the magnetic landing and positioning connection device through the suction force between the magnetic device and a magnetic strip arranged on a landing bracket of the unmanned aerial vehicle;
the sampling controller sends a sampling starting instruction to the connection sampling device when the unmanned aerial vehicle lands on the magnetic landing positioning connection device, so that the connection sampling device controls a connection sampling sleeve in the connection sampling device to extend out to be communicated with an oil well oil pipeline according to the sampling starting instruction;
the sampling controller sends an electromagnetic valve opening instruction to an electromagnetic valve switch controller when the connection sampling sleeve is communicated with the oil well oil conveying pipe, and the electromagnetic valve switch controller controls a one-way electromagnetic valve on the oil well oil conveying pipe to be opened according to the electromagnetic valve opening instruction so that oil in the oil well oil conveying pipe enters a sampling barrel on the unmanned aerial vehicle through the connection sampling sleeve;
the sampling controller sends an electromagnetic valve closing instruction to the electromagnetic valve switch controller after sampling is finished, so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed according to the electromagnetic valve closing instruction;
the sampling controller sends a sampling completion instruction to the connection sampling device after the electromagnetic valve switch controller controls the one-way electromagnetic valve to be closed, so that the connection sampling device controls the connection sampling sleeve to retract according to the sampling completion instruction;
the sampling controller sends the return instruction to the unmanned aerial vehicle flight controller after the connection sampling device controls the connection sampling sleeve to retract, so that the unmanned aerial vehicle flight controller controls the unmanned aerial vehicle to move to a preset sampling collection point according to the return instruction.
7. The unmanned aerial vehicle automatic oil recovery sampling method of claim 6, further comprising:
the connection detection device detects whether the connection sampling sleeve is communicated with the oil well oil pipeline or not, and sends a communication signal to the sampling controller when the connection sampling sleeve is communicated with the oil well oil pipeline;
the sampling controller is in the sample sleeve pipe of plugging into with to when defeated oil pipe intercommunication of oil well to solenoid valve on-off controller sends the solenoid valve and opens the instruction, includes:
and the sampling controller sends the electromagnetic valve opening instruction to the electromagnetic valve switch controller according to the communication signal so that the electromagnetic valve switch controller controls the one-way electromagnetic valve to be opened according to the electromagnetic valve opening instruction.
8. The unmanned aerial vehicle automatic oil recovery sampling method of claim 6, further comprising:
the connection detection device detects whether the connection sampling sleeve is communicated with the oil well oil pipeline or not, and sends a disconnection signal to the sampling controller when the connection sampling sleeve is disconnected with the oil well oil pipeline;
the sampling controller sends the return instruction to the unmanned aerial vehicle flight controller after the connection sampling device controls the retraction of the connection sampling sleeve, and the method comprises the following steps:
and the sampling controller sends the return instruction to the unmanned aerial vehicle flight controller according to the disconnection signal.
9. The unmanned aerial vehicle automatic oil recovery sampling method of claim 6, further comprising:
the liquid level detection device detects the liquid level in the sampling barrel and sends a liquid taking completion signal to the sampling controller when the liquid level reaches a preset value;
the sampling controller sends an electromagnetic valve closing instruction to the electromagnetic valve switch controller after sampling is finished, and the electromagnetic valve closing instruction comprises the following steps:
and the sampling controller sends a solenoid valve closing instruction to the solenoid valve switch controller according to the liquid taking completion signal.
10. The unmanned aerial vehicle automatic oil recovery sampling method of claim 6, further comprising:
the sampling controller sends a closing instruction to the magnetic landing and positioning connection device when the unmanned aerial vehicle lands on the magnetic landing and positioning connection device;
and the magnetic landing positioning connection device closes the magnetic device according to the closing instruction so as to remove the suction force between the magnetic device and the magnetic strip.
11. The unmanned aerial vehicle automatic oil recovery sampling method of claim 6, further comprising:
the landing detection device detects whether the unmanned aerial vehicle lands on the magnetic landing positioning connection device or not, and sends a landing success signal to the sampling controller when the unmanned aerial vehicle lands on the magnetic landing positioning connection device;
the sampling controller is in the unmanned aerial vehicle descends and is in to the sampling device of plugging into of sending sample start command when on the magnetic force descending location device of plugging into, include:
and the sampling controller sends the sampling starting instruction to the connection sampling device according to the landing success signal.
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